A MOE and VAE reasoning frameworks for robot navigation in complex and dynamic environments. For more details, please refer to our papers.
2022 IJCAI and 2021 IROS
A Closed-Loop Perception, Decision-Making and Reasoning Mechanism for Human-Like Navigation (IJCAI22)
Learning to Navigate in a VUCA Environment: Hierarchical Multi-expert Approach (IROS21)
A Reasoning and VAE framework for robot navigation in complex and dynamic environment
A Closed-Loop Perception, Decision-Making and Reasoning Mechanism for Human-Like Navigation
Video of real-robot experiments are shown at https://youtu.be/jD_7sCdMMWk
![Xnip2023-08-25_02-34-47](https://private-user-images.githubusercontent.com/44236100/263070895-6b8e838e-951c-4c87-a9b0-16ea56542f63.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjAyMzQ2NTEsIm5iZiI6MTcyMDIzNDM1MSwicGF0aCI6Ii80NDIzNjEwMC8yNjMwNzA4OTUtNmI4ZTgzOGUtOTUxYy00Yzg3LWE5YjAtMTZlYTU2NTQyZjYzLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA3MDYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNzA2VDAyNTIzMVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTk0MmNlZDZmODZkMTgzOWEyZWYyZTRlZDBjODM4MmVkOGE1Mjk5MGExMWY2MmVmZmQ2N2RiZTlmZTEyY2NjNzgmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.rTmRnhk_w6wfd3G1194qIhrqBCT29peUJUmS15yLGHI)
![Xnip2023-08-25_02-35-01](https://private-user-images.githubusercontent.com/44236100/263070968-25da72f3-2296-4f94-bbb9-bcd35bb8e07c.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjAyMzQ2NTEsIm5iZiI6MTcyMDIzNDM1MSwicGF0aCI6Ii80NDIzNjEwMC8yNjMwNzA5NjgtMjVkYTcyZjMtMjI5Ni00Zjk0LWJiYjktYmNkMzViYjhlMDdjLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA3MDYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNzA2VDAyNTIzMVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTdiOTgyZDJjYjQ3YjA1MGI0MDA1Y2RmYjExYTZhZWQxOWIyNzNmMGFjZWU2Y2MyNjdlZTViMDgyZjM2NDI0YzAmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.C10fGw4z3C_rLbkq4dwUZ188X3ppUxHkk20Ly4GxUZw)
![Xnip2023-08-25_02-35-11](https://private-user-images.githubusercontent.com/44236100/263070993-724e0584-5162-4c4c-bc15-67a0346d172d.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjAyMzQ2NTEsIm5iZiI6MTcyMDIzNDM1MSwicGF0aCI6Ii80NDIzNjEwMC8yNjMwNzA5OTMtNzI0ZTA1ODQtNTE2Mi00YzRjLWJjMTUtNjdhMDM0NmQxNzJkLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA3MDYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNzA2VDAyNTIzMVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTVkZDg5YmUxNTMxMGU0N2ZmZmVmOTlhMDM1ZmM3ZWExYzVhNWM3NzMyNWZlYzViOWZmN2Q1NTQ2YTgxNDVmOTImWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.d8WPalM8pdQBu-YLqdg63p9rsTzL6PloeuGXyAlcBNI)
![Xnip2023-08-25_02-35-42](https://private-user-images.githubusercontent.com/44236100/263071009-123e8183-8d23-4f74-bb62-7c176a40a4a8.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjAyMzQ2NTEsIm5iZiI6MTcyMDIzNDM1MSwicGF0aCI6Ii80NDIzNjEwMC8yNjMwNzEwMDktMTIzZTgxODMtOGQyMy00Zjc0LWJiNjItN2MxNzZhNDBhNGE4LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA3MDYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNzA2VDAyNTIzMVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTc1ZTU0MjQzNGEyNTIyZmQ0ZjFhODNmYzAxYjE3NTFkZjZlNjRjODAyZDc5ZTkwYzk1OWQ5YzU3ZjY4MWQ1ZWYmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.B_oF0hrce3-U4wytqmCyhndrZq7E9FBpyiDQlb-RTDc)
@inproceedings{ijcai2022p654,
title = {A Closed-Loop Perception, Decision-Making and Reasoning Mechanism for Human-Like Navigation},
author = {Zhang, Wenqi and Zhao, Kai and Li, Peng and Zhu, Xiao and Shen, Yongliang and Ma, Yanna and Chen, Yingfeng and Lu, Weiming},
booktitle = {Proceedings of the Thirty-First International Joint Conference on
Artificial Intelligence, {IJCAI-22}},
publisher = {International Joint Conferences on Artificial Intelligence Organization},
editor = {Lud De Raedt},
pages = {4717--4724},
year = {2022},
month = {7},
note = {Main Track},
doi = {10.24963/ijcai.2022/654},
url = {https://doi.org/10.24963/ijcai.2022/654},
}
A MOE learning framework for quadruped robot mapping and navigation
Learning to Navigate in a VUCA Environment: Hierarchical Multi-expert Approach
Video of real-robot experiments are shown at https://www.youtube.com/watch?v=lAnW4QIWDoU
![Xnip2023-08-25_02-22-46](https://private-user-images.githubusercontent.com/44236100/263068273-1b351161-abe1-44ad-85e8-33d0d6c54d44.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjAyMzQ2NTEsIm5iZiI6MTcyMDIzNDM1MSwicGF0aCI6Ii80NDIzNjEwMC8yNjMwNjgyNzMtMWIzNTExNjEtYWJlMS00NGFkLTg1ZTgtMzNkMGQ2YzU0ZDQ0LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA3MDYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNzA2VDAyNTIzMVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTgwMWE1MDQ4NDA1YjViZDIyZDQ3MjIxMDhiYWU4MDIzYThhN2FjY2RmOGMxMjM0NTMzNmI1YzA5OWVjMjg2MjUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.9BMzI6LWOriyF4Gj_2Mz9Aa22VunAISdBlB8NXmWIow)
![Xnip2023-08-25_02-22-58](https://private-user-images.githubusercontent.com/44236100/263068279-354dcae5-7ef6-4eaf-a579-6e4ef6bafc52.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjAyMzQ2NTEsIm5iZiI6MTcyMDIzNDM1MSwicGF0aCI6Ii80NDIzNjEwMC8yNjMwNjgyNzktMzU0ZGNhZTUtN2VmNi00ZWFmLWE1NzktNmU0ZWY2YmFmYzUyLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA3MDYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNzA2VDAyNTIzMVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWZjMTkwYTg2MTJkNzdiZTRhYTlhYjhkMzMwYTMyMzc1ODIzNDkwODVlYTBhNzE0ZmZjMjkxOGMwNDgzNTFmMjEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.rYewO2b6DEz96gwwefIgZRbN2ZXHv6G8Aa0npolB8Ng)
![Xnip2023-08-25_02-23-11](https://private-user-images.githubusercontent.com/44236100/263068306-e85b4c05-f562-4163-a40f-933bf0cd4db3.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjAyMzQ2NTEsIm5iZiI6MTcyMDIzNDM1MSwicGF0aCI6Ii80NDIzNjEwMC8yNjMwNjgzMDYtZTg1YjRjMDUtZjU2Mi00MTYzLWE0MGYtOTMzYmYwY2Q0ZGIzLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA3MDYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNzA2VDAyNTIzMVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWY5Njk2MTQ5NTFjYzhhZGYzMTIyYTAzNmQ2OTI3MGQzNTU5NjQ5NzU1NTlkODc2YTg1N2QxZGE5NWMxMzg0OTgmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.GNBtnrSCkXWHp_N9jKwvmGue15_dA_XxHy6qEHaSdG8)
![Xnip2023-08-25_02-23-27](https://private-user-images.githubusercontent.com/44236100/263068370-2552a944-d633-4f99-9543-c7ca71956ed1.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjAyMzQ2NTEsIm5iZiI6MTcyMDIzNDM1MSwicGF0aCI6Ii80NDIzNjEwMC8yNjMwNjgzNzAtMjU1MmE5NDQtZDYzMy00Zjk5LTk1NDMtYzdjYTcxOTU2ZWQxLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA3MDYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNzA2VDAyNTIzMVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTg4MWM0ZDBlMDYxODMwZjczY2VjNzJkZTA4NjEwMTUxMTQ5MTA3MzQ1MjEzMzMwZjU0ZDMwY2ExZjYzNDMxODMmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.ElRu4JiR_NEb1XwQU7XIQX-LlX00sLQSeqRWyteMQiA)
![Xnip2023-08-25_02-23-46](https://private-user-images.githubusercontent.com/44236100/263068401-09c38533-5d77-4262-868d-6447360ed858.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjAyMzQ2NTEsIm5iZiI6MTcyMDIzNDM1MSwicGF0aCI6Ii80NDIzNjEwMC8yNjMwNjg0MDEtMDljMzg1MzMtNWQ3Ny00MjYyLTg2OGQtNjQ0NzM2MGVkODU4LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFWQ09EWUxTQTUzUFFLNFpBJTJGMjAyNDA3MDYlMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjQwNzA2VDAyNTIzMVomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPThlNTQ1MzVjMzdjNzMxM2M5M2ExMWRmN2JlYTUxMGNjNWNhZGRmMDgxYmVjYTMwYzc0MDdhNTAyZTU0YzkwMGUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.ZUhwpXTdjA6GW_c1X6-yi1Hx4YTe-Pgq7_7hnEqTSyc)
@article{Zhang2021LearningTN,
title={Learning to Navigate in a VUCA Environment: Hierarchical Multi-expert Approach},
author={Wenqi Zhang and Kai Zhao and Peng Li and Xiaochun Zhu and Faping Ye and Wei Jiang and Huiqiao Fu and Tao Wang},
journal={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year={2021},
pages={9254-9261},
url={https://api.semanticscholar.org/CorpusID:244130381}
}